#!/usr/bin/python
import sys, os
import gettext
import time
import linuxcnc
import serial
BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), ".."))
gettext.install("linuxcnc", localedir=os.path.join(BASE, "share", "locale"), unicode=True)

import linuxcnc, hal

_after = None
def hal_in_background():
    global _after
    _after = None
    if not h.change:
        #app.tk.call("set", "::tkPriv(button)", -1)
        return
    _after = app.after(100, hal_in_background)

def poll_hal_in_background():
    global _after
    _after = app.after(100, hal_in_background)

def stop_polling_hal_in_background():
    global _after
    if _after: app.after_cancel(_after)
    _after = None



def get_tool_number():
    app.update()
    poll_hal_in_background()
    response = ''
    command = 'T?'
    try:
        ser.open()
        ser.flushOutput()
        ser.flushInput()
        ser.write(command)
        ser.flush()
        ser.write('\n');
        ser.flush()
        ln = ""
        doloop = 1
        line = []
        chars = 0
        #print "COMMAND = '" + command + "'"
        while ( doloop > 0) :
                doloop = doloop + 1
                #print "WHILE STARTS"
                for c in ser.read():
                        #print "CHAR = %c" % c
                        line.append(c)
                        chars = chars + 1
                        if (c == '\n'):
                                ln = ''.join(line)
                                line = []
                                #print ( "Ln = '" + ln + "'" )
                                if ( "OK" == ln[-4:-2]):
                                        doloop = 0
                                        #print ( "RESULT = OK" )
                                        response = ln[1:2]
                                        #print ( "RETURN STRING = '%s'" % response )
                                        break
                                if ( "ERROR" == ln[-7:-2] ):
                                        doloop = 0
                                        #print "RESULT = ERROR"
                                        response = "1"
                                        break
                #print "AFTER FOR LOOP = %d" % doloop
                #if (chars < 1) and (doloop > 10):
                if (chars < 1):
                        doloop = 0
    finally:
        stop_polling_hal_in_background()
    app.update()
    try:
        return int(response)
    except ValueError:
        pass
    return None




def send_command_and_wait(command):
    app.update()
    poll_hal_in_background()
    status = 0
    try:
	ser.open()
	ser.flushOutput()
	ser.flushInput()
	ser.write(command)
	ser.flush()
	ser.write('\n');
	ser.flush()
	ln = ""
	##h.changed = False
	doloop = 1
	line = []
	chars = 0
	#print "COMMAND = '" + command + "'"
	while ( doloop > 0) :
		doloop = doloop + 1
		#print "WHILE STARTS"
		for c in ser.read():
			#print "CHAR = %c" % c
			#print c
			line.append(c)
			chars = chars + 1
			if (c == '\n'):
				ln = ''.join(line)
				line = []
				#print ( "Ln = '" + ln + "'" )
				if ( "OK" == ln[-4:-2]):
					doloop = 0
					#print ( "RESULT = OK" )
					status = 1
					break
				if ( "ERROR" == ln[-7:-2] ):
					doloop = 0
					#print "RESULT = ERROR"
					break
		#print "AFTER FOR LOOP = %d" % doloop
		#if (chars < 1) and (doloop > 10):
		if (chars < 1):
			doloop = 0
    finally:
	stop_polling_hal_in_background()
    app.update()
    # TODO: RETURN STATUS HERE
    return status


def do_change(n, min_tool, max_tool, fake_tool):
    # Tool change error ?=
    error = False
    global _last_tool

    app.update()
    poll_hal_in_background()

    try:
	# Incorrect tool number ?
	if ( n == fake_tool ):
		error = False
	elif ( n < min_tool ) or (n > max_tool ):
		#print _( "INVALID TOOL NUMBER %d" ) % n
		error = True
	else:
		command = "T%d" % n
		#print "PREPARE: T%d" % n
		status = send_command_and_wait(command)
		if ( status == 0 ):
			error = True
		else:
			# Tool number ok, change here
			#print "CHANGE TO TOOL %d" % n
			status = send_command_and_wait("M6")
			if ( status == 0 ):
				error = True
			else:
				error = False
		#print "TOOL CHANGED"
    finally:
        stop_polling_hal_in_background()
    if ( error ):
	# Tool change error: abort & set state to ESTOP
	c = linuxcnc.command()
	c.abort()
	c.state(linuxcnc.STATE_ESTOP)
	h.enabled = False
        ## Added changed = False
        h.changed = False
	# Show error message dialog
    	if n:
		# Tool number given, prepare error message
		message = _("Tool %d change error. Stopped.   \n") % n
	else:
		# Tool removal:. not supported
		message = _("Tool removal is not allowed. Stopped.   \n")
    	# Append previous tool number if any
    	if _last_tool:
		message += _("Last successful tool number = %d   ") % _last_tool
	r = app.tk.call("nf_dialog", ".tool_change", _("Tool change"), message, "info", 0, _("Continue"))
    else:
	# Change ok, remember last tool & report success
	h.changed = True
	_last_tool = n
	h.last_tool = _last_tool
    app.update()



h = hal.component("hal_serialtoolchange")
h.newpin("number", hal.HAL_S32, hal.HAL_IN)
h.newpin("change", hal.HAL_BIT, hal.HAL_IN)
h.newpin("changed", hal.HAL_BIT, hal.HAL_OUT)
h.newpin("last_tool", hal.HAL_S32, hal.HAL_OUT)
h.newpin("enabled", hal.HAL_BIT, hal.HAL_OUT)
h.ready()

import Tkinter, nf, rs274.options

app = Tkinter.Tk(className="AxisSerialToolChanger")
app.wm_geometry("-60-60")
app.wm_title(_("AXIS serial Toolchanger 8"))
rs274.options.install(app)
nf.start(app); nf.makecommand(app, "_", _)
app.wm_protocol("WM_DELETE_WINDOW", app.wm_withdraw)
lab = Tkinter.Message(app, aspect=500, text = _("\
This window is part of the AXIS serial toolchanger 8.  It is safe to close \
or iconify this window, or it will close automatically after a few seconds."))
lab.pack()

def withdraw():
    app.wm_withdraw()
    app.bind("<Expose>", lambda event: app.wm_withdraw())

app.after(2 * 1000, withdraw)


inifile = linuxcnc.ini(os.environ['INI_FILE_NAME'])
_serial_port = inifile.find('SERIAL_TOOLCHANGE', 'SERIAL_PORT') or "unknown"
_serial_speed = inifile.find('SERIAL_TOOLCHANGE', 'SERIAL_SPEED') or 9600

# Convert string => int before use
_min_tool = inifile.find('SERIAL_TOOLCHANGE', 'MIN_TOOL') or 0
_max_tool = inifile.find('SERIAL_TOOLCHANGE', 'MAX_TOOL') or 0
_fake_tool = inifile.find('SERIAL_TOOLCHANGE', 'FAKE_TOOL') or 0

_enabled = 1
try:
	_min_tool = int(_min_tool)
	_max_tool = int(_max_tool)
	_fake_tool = int(_fake_tool)
except:
	print "Serial tool changer: invalid ini file setting, tool changer disabled."
	_enabled = 0

#print "serial port: ", _serial_port
#print "serial speed: ", _serial_speed
#print "min tool: ", _min_tool
#print "max tool: ", _max_tool
#print "fake tool: ", _fake_tool

if ( _enabled > 0 ):

    ser = serial.Serial(port = _serial_port, baudrate = _serial_speed, parity = serial.PARITY_NONE, stopbits = serial.STOPBITS_ONE, bytesize = serial.EIGHTBITS, timeout = 1)

    # Ask current (= startup) tool number from changer
    _last_tool = get_tool_number()
    #print "result from changer: ", _last_tool

    # Set to none if outside specified limits
    if ( _last_tool < _min_tool ) or (_last_tool > _max_tool ):
        _last_tool = None
    #print "initial tool number: ", _last_tool

    # set last tool = initial tool number
    h.last_tool = _last_tool

    # Flag for initial tool number
    _initial_tool_changed = 0

    try:
        while 1:
            if ( _initial_tool_changed < 1 ):
                try:
                    s = linuxcnc.stat()
                    s.poll()
                    if ( ( s.task_state == linuxcnc.STATE_ON ) and ( s.axis[0]['homed'] > 0 ) and ( s.axis[2]['homed'] > 0 ) ):
                        if ( ( _last_tool >= _min_tool ) and ( _last_tool <= _max_tool ) ):
                            #print "linuxcnc state == STATE_ON, EXEC MDI: M61 Q%d G43" % _last_tool
                            c = linuxcnc.command()
                            c.mode(linuxcnc.MODE_MDI)
                            c.mdi("M61 Q%d G43" % _last_tool)
                            c.mode(linuxcnc.MODE_MANUAL)
                            h.last_tool = _last_tool
                            _initial_tool_changed = 1
                except linuxcnc.error, detail:
                    print "Serial tool changer error. Unable to set initial tool number: ", detail
                    message = _("Unable to set initial tool number.   \n")
                    message += _("Error details = ")
                    message += detail
                    r = app.tk.call("nf_dialog", ".tool_change", _("Tool change"), message, "info", 0, _("Continue"))
                    _initial_tool_changed = 1

            h.enabled = True
            change = h.change
            if change and not h.changed:
                do_change(h.number, _min_tool, _max_tool, _fake_tool)
            elif not change:
                h.changed = False
            app.after(100)
            app.update()
    except KeyboardInterrupt:
        pass